scholarly journals Multirobot Collaborative Navigation Algorithms Based on Odometer/Vision Information Fusion

2020 ◽  
Vol 2020 ◽  
pp. 1-16
Author(s):  
Guohua Liu ◽  
Juan Guan ◽  
Haiying Liu ◽  
Chenlin Wang
Keyword(s):  
Information Fusion ◽  
Navigation System ◽  
Measurement Model ◽  
Lidar Measurement ◽  
Relative Measurement ◽  
Robot System ◽  
Single Node ◽  
Advantages And Disadvantages ◽  
Navigation Algorithms ◽  
Time Update

Collaborative navigation is the key technology for multimobile robot system. In order to improve the performance of collaborative navigation system, the collaborative navigation algorithms based on odometer/vision multisource information fusion are presented in this paper. Firstly, the multisource information fusion collaborative navigation system model is established, including mobile robot model, odometry measurement model, lidar relative measurement model, UWB relative measurement model, and the SLAM model based on lidar measurement. Secondly, the frameworks of centralized and decentralized collaborative navigation based on odometer/vision fusion are given, and the SLAM algorithms based on vision are presented. Then, the centralized and decentralized odometer/vision collaborative navigation algorithms are derived, including the time update, single node measurement update, relative measurement update between nodes, and covariance cross filtering algorithm. Finally, different simulation experiments are designed to verify the effectiveness of the algorithms. Two kinds of multirobot collaborative navigation experimental scenes, which are relative measurement aided odometer and odometer/SLAM fusion, are designed, respectively. The advantages and disadvantages of centralized versus decentralized collaborative navigation algorithms in different experimental scenes are analyzed.

Heading Measurement Based on Ultrasonic and Magnetic Compass

2013 ◽  
Vol 341-342 ◽  
pp. 896-900
Author(s):  
Bao Jiang Sun ◽  
Yue Xu
Keyword(s):  
Navigation System ◽  
Simulation Experiment ◽  
Measurement Data ◽  
Magnetic Compass ◽  
Positioning System ◽  
Integrated Navigation ◽  
Adaptive Kalman Filter ◽  
Integrated Navigation System ◽  
Advantages And Disadvantages ◽  
Measurement Principle

Describes briefly ultrasonic positioning system (UPS) and digital magnetic compass (DMC) heading measurement principle,analyzed the advantages and disadvantages of each option. To improve the accuracy of the heading measurement, As the theoretical basis of adaptive Kalman filter, designed a kind of ups and dmc integrated navigation system. Based on both real measurement data, made a simulation experiment and confirmed the feasibility of the navigation system.

Research and Analysis of Accuracy of Location Estimation in Inertial Navigation System

2016 ◽  
Vol 817 ◽  
pp. 308-316 ◽  
Author(s):  
Piotr Rajchowski ◽  
Krzysztof Cwalina ◽  
Jarosław Sadowski
Keyword(s):  
Navigation System ◽  
Indoor Environment ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Digital Signal ◽  
Location Estimation ◽  
Navigation Algorithms ◽  
Movement Parameters ◽  
Measuring Unit ◽  
Made In

In the article the research and analysis of digital signal processing and its influence on accuracy of location estimation in developed inertial navigation system was presented. The purpose of the system is to localize moving people in indoor environment. During research a measuring unit for recording selected movement parameters was made. In the article were also described author’s inertial navigation algorithms.

scholarly journals Robust Visual-Inertial Integrated Navigation System Aided by Online Sensor Model Adaption for Autonomous Ground Vehicles in Urban Areas

2020 ◽  
Vol 12 (10) ◽  
pp. 1686 ◽  
Author(s):  
Xiwei Bai ◽  
Weisong Wen ◽  
Li-Ta Hsu
Keyword(s):  
Navigation System ◽  
Urban Areas ◽  
Feature Tracking ◽  
Measurement Model ◽  
Integrated Navigation ◽  
Dynamic Features ◽  
Integrated Navigation System ◽  
M Estimator ◽  
Dynamic Objects

The visual-inertial integrated navigation system (VINS) has been extensively studied over the past decades to provide accurate and low-cost positioning solutions for autonomous systems. Satisfactory performance can be obtained in an ideal scenario with sufficient and static environment features. However, there are usually numerous dynamic objects in deep urban areas, and these moving objects can severely distort the feature-tracking process which is critical to the feature-based VINS. One well-known method that mitigates the effects of dynamic objects is to detect vehicles using deep neural networks and remove the features belonging to surrounding vehicles. However, excessive feature exclusion can severely distort the geometry of feature distribution, leading to limited visual measurements. Instead of directly eliminating the features from dynamic objects, this study proposes to adopt the visual measurement model based on the quality of feature tracking to improve the performance of the VINS. First, a self-tuning covariance estimation approach is proposed to model the uncertainty of each feature measurement by integrating two parts: (1) the geometry of feature distribution (GFD); (2) the quality of feature tracking. Second, an adaptive M-estimator is proposed to correct the measurement residual model to further mitigate the effects of outlier measurements, like the dynamic features. Different from the conventional M-estimator, the proposed method effectively alleviates the reliance on the excessive parameterization of the M-estimator. Experiments were conducted in typical urban areas of Hong Kong with numerous dynamic objects. The results show that the proposed method could effectively mitigate the effects of dynamic objects and improved accuracy of the VINS is obtained when compared with the conventional VINS method.

A Rat-Robot Control System Based on Optogenetics

2013 ◽  
Vol 461 ◽  
pp. 848-852 ◽  
Author(s):  
Song Chao Guo ◽  
Hong Zhou ◽  
Yue Ming Wang ◽  
Xiao Xiang Zheng ◽  
Ke Di Xu
Keyword(s):  
Control System ◽  
Electrical Activity ◽  
Real Time ◽  
Navigation System ◽  
Robot Control ◽  
Robot Navigation ◽  
Freezing Behavior ◽  
Robot System ◽  
Optical Stimulation ◽  
Different Types

We developed a rat-robot system based on optogenetic techniques for the precise freezing behavior. Rat-robots were built up by optogenetic modulation at the dlPAG of rat brains. We conducted track navigation for the rat-robots and found they were able to exhibit precise freezing at given positions with high spatiotemporal accuracy. Different types of optical stimulation were compared and their influence on the rat-robots was investigated. Furthermore we recorded the neural electrical activity in real time during the optical stimulation. The system could be used to explore the mechanism of freezing behaviors and to build up a more integrated rat-robot navigation system based on optical modulations.

scholarly journals An Integration Method of Inertial Navigation System and Three-Beam Lidar for the Precision Landing

2016 ◽  
Vol 2016 ◽  
pp. 1-13 ◽  
Author(s):  
Xiaoyue Zhang ◽  
Pengbo Liu ◽  
Chunxi Zhang
Keyword(s):  
Fault Detection ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Integration Method ◽  
Inertial Navigation ◽  
Measurement Model ◽  
Reconstruction Method ◽  
Integrated Navigation ◽  
Fault Resistance ◽  
Vehicle Test

To ensure the high accuracy, independence, and reliability of the measurement system in the unmanned aerial vehicle (UAV) landing process, an integration method of inertial navigation system (INS) and the three-beam Lidar is proposed. The three beams of Lidar are, respectively, regarded as an independent sensor to integrate with INS according to the conception of multisensor fusion. Simultaneously, the fault-detection and reconstruction method is adopted to enhance the reliability and fault resistance. First the integration method is described. Then the strapdown inertial navigation system (SINS) error model is introduced and the measurement model of SINS/Lidar integrated navigation is deduced under Lidar reference coordinate. The fault-detection and reconstruction method is introduced. Finally, numerical simulation and vehicle test are carried out to demonstrate the validity and utility of the proposed method. The results indicate that the integration can obtain high precision navigation information and the system can effectively distinguish the faults and accomplish the reconstruction to guarantee the normal navigation when one or two beams of the Lidar malfunction.

Application of Improved Unscented Kalman Filter to AUV Based on Terrain-Aided Strapdown Inertial Navigation System

2013 ◽  
Vol 389 ◽  
pp. 758-764 ◽  
Author(s):  
Qi Wang ◽  
Dong Li ◽  
Zi Jia Zhang ◽  
Chang Song Yang
Keyword(s):  
Kalman Filter ◽  
Information Fusion ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Unscented Kalman Filter ◽  
Autonomous Underwater Vehicles ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Integrated Navigation ◽  
Strapdown Inertial Navigation

To improve the navigation precision of autonomous underwater vehicles, a terrain-aided strapdown inertial navigation based on Improved Unscented Kalman Filter (IUKF) is proposed in this paper. The characteristics of strapdown inertial navigation system and terrain-aided navigation system are described in this paper, and improved UKF method is applied to the information fusion. Simulation experiments of novel integrated navigation system proposed in the paper were carried out comparing to the traditional Kalman filtering methods. The experiment results suggest that the IUKF method is able to greatly improve the long-time navigation precision, relative to the traditional information fusion method.

Intraoperative, full-rotation, three-dimensional image (O-arm)–based navigation system for cervical pedicle screw insertion

2011 ◽  
Vol 15 (5) ◽  
pp. 472-478 ◽  
Author(s):  
Yoshimoto Ishikawa ◽  
Tokumi Kanemura ◽  
Go Yoshida ◽  
Akiyuki Matsumoto ◽  
Zenya Ito ◽  
...  
Keyword(s):  
Pedicle Screw ◽  
Navigation System ◽  
Spinal Instrumentation ◽  
3D Image ◽  
Cervical Pedicle Screw ◽  
Advantages And Disadvantages ◽  
Full Rotation ◽  
Screw Diameter ◽  
Cervical Pedicle ◽  
Pedicle Wall

Object The aim of this study was to retrospectively evaluate the reliability and accuracy of cervical pedicle screw (CPS) placement using an intraoperative, full-rotation, 3D image (O-arm)–based navigation system and to assess the advantages and disadvantages of the system. Methods The study involved 21 consecutive patients undergoing posterior stabilization surgery of the cervical spine between April and December 2009. The patients, in whom 108 CPSs had been inserted, underwent screw placement based on intraoperative 3D imaging and navigation using the O-arm system. Cervical pedicle screw positions were classified into 4 grades, according to pedicle-wall perforations, by using postoperative CT. Results Of the 108 CPSs, 96 (88.9%) were classified as Grade 0 (no perforation), 9 (8.3%) as Grade 1 (perforations < 2 mm, CPS exposed, and < 50% of screw diameter outside the pedicle), and 3 (2.8%) as Grade 2 (perforations between ≥ 2 and < 4 mm, CPS breached the pedicle wall, and > 50% of screw diameter outside the pedicle). No screw was classified as Grade 3 (perforation > 4 mm, complete perforation). No neurovascular complications occurred because of CPS placement. Conclusions The O-arm offers high-resolution 2D or 3D images, facilitates accurate and safe CPS insertion with high-quality navigation, and provides other substantial benefits for cervical spinal instrumentation. Even with current optimized technology, however, CPS perforation cannot be completely prevented, with 8.3% instances of minor violations, which do not cause significant complications, and 2.8% instances of major pedicle violations, which may cause catastrophic complications. Therefore, a combination of intraoperative 3D image–based navigation with other techniques may result in more accurate CPS placement.

A review and comparison of three neuronavigation systems for minimally invasive intracerebral hemorrhage evacuation

2017 ◽  
Vol 10 (1) ◽  
pp. 66-74 ◽  
Author(s):  
Alexander G Chartrain ◽  
Christopher P Kellner ◽  
Kyle M Fargen ◽  
Alejandro M Spiotta ◽  
David A Chesler ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Intracerebral Hemorrhage ◽  
Navigation System ◽  
Minimally Invasive Techniques ◽  
Catheter Drainage ◽  
Advantages And Disadvantages ◽  
Stereotactic Navigation ◽  
Endoscopic Evacuation ◽  
Invasive Techniques ◽  
Neurosurgical Techniques

Advances in stereotactic navigation technology have helped to improve the ease, reliability, and workflow of neurosurgical intraoperative navigation. These advances have also allowed novel, minimally invasive neurosurgical techniques to emerge. Minimally invasive techniques for intracerebral hemorrhage (ICH) evacuation, including endoscopic evacuation and passive catheter drainage, are notable examples, and as these gain support in the literature and their use expands, stereotactic navigation will take on an increasingly important and central role. Each neurosurgical navigation system has unique characteristics. Operators may find that certain aspects are more important than others, depending on the environment in which the evacuation is performed and operator preferences. This review will describe the characteristics of three popular stereotactic neuronavigation systems and compare their advantages and disadvantages as they relate to minimally invasive ICH evacuation.

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